mpc_local_planner icon indicating copy to clipboard operation
mpc_local_planner copied to clipboard
verified publisher icon rst-tu-dortmund

ROS Noetic crash on receiving nav goal

Open ElClopitan opened this issue 5 years ago • 3 comments

I am using a polygon model and whenever I send a navGoal, it crashes. I am using the mpc_local_planner_params_quadratic_form.yaml file for my robot and when I keep it as a point model, it doesn't crash. It only crashes once I switch to a polygon model. Any idea what I am doing wrong?

ElClopitan avatar Dec 04 '20 21:12 ElClopitan

carlike_minimum_time.launch This example launch file also crashes when I give it a nav goal with two_circles, line, and polygon for the footprint_model type but not with point and circular (but it does perform poorly for circular). Is there a chance I just downloaded something wrong?

ElClopitan avatar Dec 05 '20 00:12 ElClopitan

It had crash before i lauch the carlinke_minimum_time.launch in ros noetic.

Marxvans avatar Jan 05 '22 12:01 Marxvans

@ElClopitan, @Marxvans

Use package from noetic-devel branch. Not noetic distro.

  1. Clone branch git clone --branch noetic-devel https://github.com/rst-tu-dortmund/mpc_local_planner.git
  2. Move 'mpc_local_planner' and 'mpc_local_planner_msgs' to your workspace
  3. Run catkin_make from your workspace.
  4. Use MPC as any other plugin base_local_planner: "mpc_local_planner/MpcLocalPlannerROS

If you want just run the example, clone branch to src and run catkin_make, after all run source ./devel/setup.bash and appropriate roslaunch <example>.launch

This is not the best solution, but it works well for me.

kinekt2000 avatar Apr 20 '22 16:04 kinekt2000